阅读说明：本技术 一种导航数据传输装置、方法及计算机可读存储介质 (Navigation data transmission device and method and computer readable storage medium ) 是由 于金诚 韩旭 于 2021-08-24 设计创作，主要内容包括：本发明公开了的导航数据传输装置,包括组合导航设备、主机、串口转USB设备和串口检测设备,组合导航设备用于采集、接收和发送位置导航数据和惯性导航数据；主机用于接收和发送位置导航数据和惯性导航数据；串口转USB设备用于连接组合导航设备与主机,并对从组合导航设备串口发送的惯性导航数据进行高速传输；串口检测设备用于连接组合导航设备与主机,并对从组合导航设备串口发送的位置导航数据进行检测,判断位置导航数据是否发生数据丢失判断所述位置导航数据是否发生丢失。这样,本发明通过优化组合导航设备到主机的数据传输链路,修改传输速率与配置,从而提高了数据传输的稳定性,保证了自动驾驶车辆的正确定位。(The invention discloses a navigation data transmission device, which comprises an integrated navigation device, a host, a serial port-to-USB device and a serial port detection device, wherein the integrated navigation device is used for acquiring, receiving and sending position navigation data and inertial navigation data; the host is used for receiving and sending position navigation data and inertial navigation data; the serial port-to-USB device is used for connecting the integrated navigation device and the host and carrying out high-speed transmission on inertial navigation data sent from the serial port of the integrated navigation device; the serial port detection device is used for connecting the integrated navigation device and the host, detecting the position navigation data sent from the serial port of the integrated navigation device, judging whether the position navigation data is lost or not, and judging whether the position navigation data is lost or not. Therefore, the invention modifies the transmission rate and configuration by optimizing the data transmission link from the integrated navigation equipment to the host, thereby improving the stability of data transmission and ensuring the correct positioning of the automatic driving vehicle.)

1. The navigation data transmission device is characterized by comprising an integrated navigation device, a host, a serial port-to-USB device and a serial port detection device, wherein:

the integrated navigation equipment is used for acquiring position navigation data and inertial navigation data, and receiving and sending the position navigation data and the inertial navigation data;

the host is used for receiving and sending the position navigation data and the inertial navigation data;

the serial port-to-USB device is used for connecting the integrated navigation device and the host and carrying out high-speed transmission on the inertial navigation data sent from the serial port of the integrated navigation device;

the serial port detection device is used for connecting the integrated navigation device and the host, detecting the position navigation data sent by the serial port of the integrated navigation device and judging whether the position navigation data is lost or not.

2. The navigation data transmission device of claim 1, wherein the integrated navigation apparatus comprises a first USB interface, a first serial port and a second serial port; the host comprises a second USB interface, a third USB interface and a third serial port; the serial port-to-USB device comprises a fourth serial port, a USB-to-serial port chip and a fourth USB interface.

3. The navigation data transmission device according to claim 2, wherein the first serial port of the integrated navigation device is configured to receive and transmit the inertial navigation data, and is connected to the third USB interface of the host through the serial-to-USB device; the first serial port of the combined navigation device is connected to a fourth serial port of the serial-to-USB device, is connected to a fourth USB interface of the serial-to-USB device through the USB-to-serial port chip, and is connected to a third USB interface of the host through the fourth USB interface;

and the second serial port of the combined navigation equipment is used for sending and receiving the position navigation data and is connected with the third serial port of the host through the serial port detection equipment.

4. The navigation data transmission device of claim 3, wherein the USB version of the fourth USB interface of the serial-to-USB device is greater than or equal to USB 2.0.

5. The navigation data transmission device of claim 3, wherein the integrated navigation apparatus is connected using an aviation plug.

6. The navigation data transmission device of claim 3, wherein the integrated navigation device further comprises a PPS interface, and the PPS interface is connected to the serial port detection device and is configured to send a PPS signal.

7. The navigation data transmission apparatus according to claim 3, further comprising a USB connection line between the integrated navigation device and the host, wherein the first USB interface of the integrated navigation device is used for transmitting the inertial navigation data and is connected to the second USB interface of the host through the USB connection line, and the USB version of the first USB interface is USB 1.1.

8. A navigation data transmission method using the navigation data transmission apparatus according to any one of claims 1 to 7, the navigation data transmission method comprising the steps of:

detecting whether navigation data are lost or not in the data transmission process; the navigation data comprises position navigation data and inertial navigation data;

if the inertial navigation data are not lost, continuing to use the serial port-USB device to transmit the inertial navigation data at a high speed;

and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment.

9. The navigation data transmission method of claim 8, further comprising:

if the position navigation data is not lost, the host machine uses the position navigation data to perform navigation;

and if the position navigation data is lost, the host machine uses the inertial navigation data to navigate.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the navigation data transmission method according to any one of claims 8 to 9.

Technical Field

The present invention relates to the field of navigation data transmission technologies, and in particular, to a navigation data transmission device, a navigation data transmission method, and a computer-readable storage medium.

Background

In the existing positioning technology, Global Positioning System (GPS) positioning can achieve high-precision positioning, but cannot provide attitude information of a moving carrier, and has a low data update rate and is susceptible to environmental interference. An inertial navigation system (INS for short) performs positioning according to motion information of a carrier without depending on external information, but has a disadvantage that a positioning error increases with time, and therefore, a combination of the inertial navigation system and the INS is proposed, that is, a combined navigation system is provided.

At present, one of the key core technologies in the field of automatic driving is a fusion positioning technology of vehicle-mounted integrated navigation. However, in the automatic driving process, data such as ravimu, GPRMC, PPS, and the like sent by the integrated navigation device are sent to the host computer through a USB cable, error reporting of usbbulk-71 on the kernel level often occurs, and it is also easy that the data of the integrated navigation device received by the host computer often loses 900ms of data due to the fact that the data is cached and cannot be sent out by the integrated navigation device, and even frequently loses the data, which seriously affects the automatic driving, and even causes the vehicle to exit the automatic driving mode.

Therefore, there is a need to optimize the data transmission link from the integrated navigation device to the host computer to address the stability of the data transmission to ensure proper positioning of the autonomous vehicle.

Disclosure of Invention

In view of the above, the present invention provides a navigation data transmission device, a navigation data transmission method and a computer readable storage medium. By optimizing the data transmission link from the combined navigation equipment to the host, optimizing the wiring harness and the interface, and modifying the transmission rate and configuration, the stability of data transmission is improved, and the correct positioning of the automatic driving vehicle is ensured.

In order to achieve the above object, the present invention provides a navigation data transmission device, which includes an integrated navigation device, a host, a serial port to USB device, and a serial port detection device, wherein:

the integrated navigation equipment is used for acquiring position navigation data and inertial navigation data, and receiving and sending the position navigation data and the inertial navigation data;

the host is used for receiving and sending the position navigation data and the inertial navigation data;

the serial port-to-USB device is used for connecting the integrated navigation device and the host and carrying out high-speed transmission on the inertial navigation data sent from the serial port of the integrated navigation device;

the serial port detection device is used for connecting the integrated navigation device and the host, detecting the position navigation data sent by the serial port of the integrated navigation device and judging whether the position navigation data is lost or not.

Optionally, the integrated navigation device includes a first USB interface, a first serial port, and a second serial port; the host comprises a second USB interface, a third USB interface and a third serial port; the serial port-to-USB device comprises a fourth serial port, a USB-to-serial port chip and a fourth USB interface.

Optionally, the first serial port of the integrated navigation device is configured to receive and send the inertial navigation data, and is connected to a third USB interface of the host through the serial-to-USB device; the first serial port of the combined navigation device is connected to a fourth serial port of the serial-to-USB device, is connected to a fourth USB interface of the serial-to-USB device through the USB-to-serial port chip, and is connected to a third USB interface of the host through the fourth USB interface;

and the second serial port of the combined navigation equipment is used for sending and receiving the position navigation data and is connected with the third serial port of the host through the serial port detection equipment.

Optionally, a USB version of a fourth USB interface in the serial-to-USB device is greater than or equal to USB 2.0.

Optionally, the integrated navigation device is connected using an aviation plug.

Optionally, the integrated navigation device further includes a PPS interface, and the PPS interface is connected to the serial port detection device and configured to send a PPS signal.

Optionally, a USB connection line is further included between the integrated navigation device and the host, the first USB interface of the integrated navigation device is configured to transmit the inertial navigation data, and is connected to the second USB interface of the host through the USB connection line, and the USB version of the first USB interface is USB 1.1.

In addition, in order to achieve the above object, the present invention further provides a navigation data transmission method, including the following steps:

detecting whether navigation data are lost or not in the data transmission process; the navigation data comprises position navigation data and inertial navigation data;

if the inertial navigation data are not lost, continuing to use the serial port-USB device to transmit the inertial navigation data at a high speed;

and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment.

Optionally, if the position navigation data is not lost, the host uses the position navigation data to perform navigation;

and if the position navigation data is lost, the host machine uses the inertial navigation data to navigate.

Furthermore, to achieve the above object, the present invention also proposes a computer readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the steps of the navigation data transmission method as described above.

The embodiment of the invention provides a navigation data transmission device, which comprises integrated navigation equipment, a host, serial port-to-USB equipment and serial port detection equipment, wherein the integrated navigation equipment is used for acquiring position navigation data and inertial navigation data, and receiving and sending the position navigation data and the inertial navigation data; the host is used for receiving and sending the position navigation data and the inertial navigation data; the serial port-to-USB device is used for connecting the integrated navigation device and the host and carrying out high-speed transmission on the inertial navigation data sent from the serial port of the integrated navigation device; the serial port detection device is used for connecting the integrated navigation device and the host, detecting the position navigation data sent by the serial port of the integrated navigation device and judging whether the position navigation data is lost or not. Therefore, important inertial navigation data such as RAWIMU and the like are transmitted to the host through serial port-to-USB equipment by optimizing a data transmission link from the integrated navigation equipment to the host and modifying the transmission rate and configuration, and position navigation data such as other RTCM, GPRMC, PPS and the like are transmitted to the serial port of the host through the serial port of the integrated navigation equipment, so that the stability of data transmission is improved, and the correct positioning of an automatic driving vehicle is ensured.

Drawings

Fig. 1 is a schematic structural diagram of a navigation data transmission device according to an embodiment of the present invention.

Fig. 2 is a second schematic structural diagram of a navigation data transmission device according to the present invention.

Fig. 3 is a schematic structural diagram of a serial-to-USB device harness provided in the present invention.

Fig. 4 is a schematic structural diagram of a serial port detection device harness provided in the present invention.

Fig. 5 is a schematic structural diagram of a USB harness according to the present invention.

Fig. 6 is a schematic flow chart of a navigation data transmission method according to the present invention.

Fig. 7 is a flowchart illustrating another navigation data transmission method according to the present invention.

Fig. 8 is a vehicle structure diagram of a hardware operating environment according to an embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

As shown in fig. 1, fig. 1 is a schematic structural diagram of a navigation data transmission device according to the present invention. It should be emphasized that the schematic structure shown in fig. 1 is only an exemplary diagram of a preferred embodiment, and those skilled in the art can easily complement the new functional structure around the structure of the navigation data transmission device shown in fig. 1; the names of the structures are self-defined names only for assisting in understanding the structures of the navigation data transmission device and are not used for limiting the technical scheme of the invention, and the core of the technical scheme of the invention is the function to be achieved by respectively defining the structures of the names.

This embodiment proposes a navigation data transmission apparatus 100, and this navigation data transmission apparatus 100 includes an integrated navigation device 10, a host 20, a serial-to-USB device 30, and a serial detection device 40, wherein:

the integrated navigation device 10 is configured to acquire position navigation data and inertial navigation data, and receive and send the position navigation data and the inertial navigation data;

the host 20 is configured to receive and transmit the position navigation data and the inertial navigation data;

the serial port-to-USB device 30 is configured to connect the integrated navigation device 10 and the host 20, and perform high-speed transmission on the inertial navigation data sent from the serial port of the integrated navigation device 10;

the serial port detection device 40 is configured to connect the integrated navigation device 10 and the host 20, detect the position navigation data sent from the serial port of the integrated navigation device 10, and determine whether the position navigation data is lost.

In the prior art, a vehicle-mounted integrated navigation device may integrate a Global Positioning System (GPS) and an Inertial Navigation System (INS). In the automatic driving process, the data such as RAWIMU, GPRMC, PPS and the like sent by the combined navigation equipment are sent to the host through a USB line, and the problems of data loss, buffer overflow and the like often occur.

In the existing integrated navigation device, the communication interface generally includes at least one USB interface, two serial ports, and one PPS interface. The USB interface generally adopts USB1.1, the rate is only 12Mbps, the rate is low, if the host is busy, then the USB1.1controller starts restarting without sending data, thereby losing data.

In this embodiment, in order to improve the stability of data transmission, a data transmission link from the combined navigation device to the host may be optimized.

Specifically, the navigation data transmission device 100 in the present application may optimize the harness and the interface of the combined navigation device, for the important data such as the ravimu, the serial port is changed into the USB device to transmit the inertial navigation data at a high speed, the baud rate may be configured to 460800, which is much higher than the previous 9600 speed, and the other position navigation data such as RTCM, GPRMC, PPS, etc. may be directly inserted to the serial port of the host computer through the aviation plug of the combined navigation device, the separated harness, and the integrated serial port line, because the requirement for the speed by the three signals is not high, and the host computer serial port can only reach 115200 at the highest, so the 9600 baud rate can be configured to meet the requirement.

Referring to fig. 2 and fig. 3 together, fig. 2 is a second schematic structural diagram of the navigation data transmission device of the present invention, and fig. 3 is a schematic structural diagram of a serial-to-USB device harness according to the present invention.

In this embodiment, the integrated navigation device 10 may include a first USB interface 101, a first serial port 102, and a second serial port 103; the host 20 may include a second USB interface 201, a third USB interface 202, and a third serial port 203; the serial-to-USB device 30 may include a third serial port 301, a USB-to-serial port chip 302, and a fourth USB interface 303.

After the integrated navigation device 10 collects the position navigation data and the inertial navigation data, since the serial port to USB device 30 is used to connect the integrated navigation device 10 and the host 20, specifically, the first serial port 102 of the integrated navigation device 10 is used to receive and send the inertial navigation data, and is connected to the third USB interface 202 of the host 20 through the serial port to USB device 30; the first serial port 102 of the integrated navigation device 10 is connected to the third serial port 301 of the serial-to-USB device 30, is connected to the fourth USB interface 303 of the serial-to-USB device 30 through the USB-to-serial port chip 302, and is connected to the third USB interface 202 of the host 20 through the fourth USB interface 303.

The USB to serial port chip 302 in the serial to USB device 30 can help the host 20 to cache data, so that the host is not affected by the busy USB controller on the host side.

In this embodiment, when the serial to USB device 30 is used to transmit data, the maximum transmission rate of USB2.0 is up to 480 Mbps. Therefore, the USB version of the fourth USB interface 303 in the serial-to-USB device 30 can be used as the version greater than or equal to USB2.0, so that when the host is busy, the data will not backlog too much data to restart the device. Since the first serial port 102 of the integrated navigation device 10 receives and transmits the inertial navigation data and is connected to the third USB interface 202 of the host 20 through the serial-to-USB device 30, that is, a high-speed serial port is used for data transmission, so that there is no problem of buffer area in transmitting and receiving each tube.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a serial port testing device harness according to the present invention.

After the integrated navigation device 10 collects the position navigation data and the inertial navigation data, since the serial port detection device 40 is used to connect the integrated navigation device 10 with the host 20, specifically, the second serial port 103 of the integrated navigation device 10 is used to send and receive the position navigation data, and the serial port detection device 40 is used to connect the third serial port 203 of the host 20, that is, the position navigation data such as RTCM, GPRMC, PPS may pass through the aviation plug of the integrated navigation device, and the separated wire harness and the integrated serial port line are directly inserted into the serial port of the host to be used as a new wire harness transmission data.

In the process of transmitting the position navigation data such as RTCM, GPRMC, PPS, etc., the serial port detection device 40 may also be used to monitor and detect the position navigation data sent from the serial port of the integrated navigation device 10 via the serial port detection device 40, to determine whether the position navigation data is lost, or may be recorded in a log file of the serial port detection device 40, and in the process of usual diagnosis, it may also be possible to check whether the RTCM data, GPRMC data, PPS signals are abnormal or not through the serial port detection device 40.

Further, the integrated navigation device 10 further includes a PPS interface (not shown in the figure), and the PPS interface is connected to the serial port detection device 40 and is used for sending a PPS signal.

In order to cooperate with the modified wiring harness scheme of the present invention, the present embodiment may further change the configuration of the integrated navigation device 10, which may be as follows:

motherboard COM1 port (i.e., first port 102): a baud rate of 460800bps, configured to receive and transmit commands and data, and connect to the third USB interface 202 of the host 20 through the serial-to-USB device 30;

motherboard COM3 port (i.e., second serial port 103): the Baud rate is 9600bps, the GPRMC data is sent, and the GPRMC data is connected to the serial port detection device 40;

PPS interface: is connected to the serial port detection device 40;

USB port (i.e., first USB interface 101): receiving RTK data;

the receiving port of the second serial port 103 is configured to be in an RTCMV3 mode.

It can be understood that the navigation data transmission device 100 may further include a line such as a ground line, which is not described herein again.

Further, since the RTCM data is transferred from the USB cable in the prior art to the serial port cable in the present invention, it is necessary to further detect whether the RTK data meets the data transmission requirement, i.e. the rate of more than 7000bps, for example, the contents of the test display are as follows:

Connected,7988bps,ostream:ttys0:9600:OK
	Connected,8306bps,ostream:ttys0:9600:OK

as can be seen from the above, all rates greater than 7000bps satisfy the requirements for RTCM data transmission.

Therefore, the data transmission and reception of the integrated navigation device 10 and the host 20 tend to be normal, and the occurrence frequency of the problem of the loss of the positioning data is reduced.

The invention provides a navigation data transmission device, which comprises an integrated navigation device, a host, a serial port-to-USB device and a serial port detection device, wherein the integrated navigation device is used for acquiring position navigation data and inertial navigation data, and receiving and sending the position navigation data and the inertial navigation data; the host is used for receiving and sending the position navigation data and the inertial navigation data; the serial port-to-USB device is used for connecting the integrated navigation device and the host and carrying out high-speed transmission on the inertial navigation data sent from the serial port of the integrated navigation device; the serial port detection device is used for connecting the integrated navigation device and the host, detecting the position navigation data sent by the serial port of the integrated navigation device and judging whether the position navigation data is lost or not. Therefore, important inertial navigation data such as RAWIMU and the like are transmitted to the host through serial port-to-USB equipment by optimizing a data transmission link from the integrated navigation equipment to the host and modifying the transmission rate and configuration, and position navigation data such as other RTCM, GPRMC, PPS and the like are transmitted to the serial port of the host through the serial port of the integrated navigation equipment, so that the stability of data transmission is improved, and the correct positioning of an automatic driving vehicle is ensured.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a USB harness according to the present invention.

In this embodiment, in order to prevent the problem of the wiring harness from passing through the first serial port 102 of the integrated navigation device 10 to the serial-to-USB device 30 and then to the third USB interface 202 of the host 20, the previous USB cable may be further used as a redundant link or a fault-free channel for normal diagnosis, so as to further improve the overall function of the navigation data transmission apparatus 100.

Specifically, a USB connection line is further included between the integrated navigation device 10 and the host 20, the first USB interface 101 of the integrated navigation device 10 is configured to transmit the inertial navigation data, and is connected to the second USB interface 201 of the host 20 through the USB connection line, and the USB version of the first USB interface 101 may be USB 1.1.

In the embodiment, the USB connection line before the use between the integrated navigation device and the host is used as a redundant link or a fault-free channel for normal diagnosis, so that the inertial navigation data can be transmitted using the first USB interface of the integrated navigation device in the event of data loss. In this way, stability of data transmission is ensured.

In addition, in an embodiment, as shown in fig. 6, the present invention provides a navigation data transmission method, it should be noted that structures in the above apparatus can be used to implement steps in the method, and achieve corresponding technical effects. The method comprises the following steps:

step 601, in the data transmission process, detecting whether the navigation data is lost.

In the embodiment, because the integrated navigation device transmits inertial navigation data and position navigation data, the navigation data transmission device optimizes the wire harness and the interface, the serial port-USB device transmits the inertial navigation data at a high speed for important data such as RAWIMU and the like, the baud rate can be configured to be 460800, and other position navigation data such as RTCM, GPRMC, PPS and the like are integrated with the serial port line to be directly inserted into the serial port of the host through the aviation plug of the integrated navigation device and the separated wire harness.

Therefore, in order to prevent the occurrence of error reporting of the usbbulk-71 on the kernel level as in the prior art, it is necessary to detect whether the navigation data is lost during the data transmission process of the navigation data transmission device of the present application. The position navigation data comprises data such as RTCM data, GPRMC data and PPS signals; the inertial navigation data comprises important data such as RAWIMU.

And step 602, if the inertial navigation data are not lost, continuing to use the serial port-to-USB device to transmit the inertial navigation data at a high speed.

In an embodiment, if the inertial navigation data is not lost, the inertial navigation data may be transmitted according to the modified wiring harness scheme of the present application by continuing to use the wiring harness scheme from the first serial port 102 of the integrated navigation device 10 to the serial-to-USB device 30 and then to the third USB interface 202 of the host 20.

Step 603, if the inertial navigation data is lost, transmitting the inertial navigation data by using the first USB interface of the integrated navigation device.

In an embodiment, for the inertial navigation data, since a USB connection line before the use between the integrated navigation device and the host of the navigation data transmission apparatus of the present application is used as a redundant link or a fault-removing channel for normal diagnosis, if the USB connection line is lost, the inertial navigation data can be immediately reported to a log file, and the first USB interface of the integrated navigation device is used to transmit the inertial navigation data. In this way, stability of data transmission is ensured.

The navigation data transmission method provided by the invention detects whether the navigation data is lost or not in the data transmission process; if the inertial navigation data are not lost, continuing to use the serial port-USB device to transmit the inertial navigation data at a high speed; and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment. Through the technical scheme, the stability of data transmission can be ensured, and the correct positioning of the automatic driving vehicle is ensured.

In another embodiment, as shown in fig. 7, the present invention provides another navigation data transmission method, which can further detect the result caused by the problem of whether the position navigation data is lost, and the method includes the following steps:

step 701, detecting whether navigation data is lost or not in the data transmission process; the navigation data includes position navigation data and inertial navigation data.

And step 702, if the inertial navigation data are not lost, continuing to use the serial port-to-USB device to transmit the inertial navigation data at a high speed.

And 703, if the inertial navigation data is lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment.

And 704, if the position navigation data is not lost, the host machine uses the position navigation data to navigate.

Step 705, if the position navigation data is lost, the host machine uses the inertial navigation data to perform navigation.

If the inertial navigation data is not lost, go to step 702; if the inertial navigation data is lost, go to step 703; the above step 701-703 is the same as the step 601-603, and the description thereof is omitted here.

In this embodiment, because the position navigation data such as RTCM, GPRMC, PPS, etc. is a wiring harness branched out by an aviation plug of the integrated navigation device, the integrated serial port line is directly plugged into the serial port of the host, and the serial port detection device 40 may detect whether the position navigation data is lost.

If the position navigation data is not lost, step 704 is entered, or the position navigation data may be continuously transmitted by using the wire harness scheme that the second serial port 103 of the integrated navigation device 10 is connected to the third serial port 203 of the host 20 through the serial port detection device 40, but the host may use the position navigation data for navigation because the accuracy of the position navigation data is higher than that of the inertial navigation data.

If the position navigation data is lost, step 704 is entered, the position navigation data may be immediately reported to a log file, and the host performs navigation using the inertial navigation data, but may still continue to transmit the position navigation data using the wiring harness scheme that the second serial port 103 of the integrated navigation device 10 is connected to the third serial port 203 of the host 20 through the serial port detection device 40, but the serial port detection device 40 may continuously detect whether the position navigation data is lost.

The navigation data transmission method provided by the invention detects whether the navigation data is lost or not in the data transmission process; if the position navigation data is not lost, the host machine uses the position navigation data to perform navigation; and if the position navigation data is lost, the host machine uses the inertial navigation data to navigate. Through the technical scheme, the stability of data transmission can be ensured, and the correct positioning of the automatic driving vehicle is ensured.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a vehicle in a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 8, the vehicle may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include standard wired interfaces, wireless interfaces (e.g., WI-FI, 4G, 5G interfaces). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the configuration shown in fig. 8 does not constitute a limitation of the vehicle and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 8, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a navigation data transmission program.

In the vehicle shown in fig. 8, the network interface 1004 is mainly used for data communication with an external network; the user interface 1003 is mainly used for receiving input instructions of a user; the vehicle calls the navigation data transfer program stored in the memory 1005 by means of the processor 1001 and performs the following operations:

detecting whether navigation data are lost or not in the data transmission process; the navigation data comprises position navigation data and inertial navigation data;

if the inertial navigation data are not lost, continuing to use the serial port-USB device to transmit the inertial navigation data at a high speed;

and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment.

Optionally, if the position navigation data is not lost, the host uses the position navigation data to perform navigation;

and if the position navigation data is lost, the host machine uses the inertial navigation data to navigate. According to the scheme, whether navigation data are lost or not is detected in the data transmission process; the navigation data comprises position navigation data and inertial navigation data; if the inertial navigation data are not lost, continuing to use the serial port-USB device to transmit the inertial navigation data at a high speed; and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment. If the position navigation data is not lost, the host machine uses the position navigation data to perform navigation; and if the position navigation data is lost, the host machine uses the inertial navigation data to navigate. In this way, the stability of data transmission can be ensured, and the correct positioning of the autonomous vehicle can be ensured.

In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a navigation data transmission program is stored on the computer-readable storage medium, and when executed by a processor, the navigation data transmission program implements the following operations:

detecting whether navigation data are lost or not in the data transmission process; the navigation data comprises position navigation data and inertial navigation data;

if the inertial navigation data are not lost, continuing to use the serial port-USB device to transmit the inertial navigation data at a high speed;

and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment.

Optionally, if the position navigation data is not lost, the host uses the position navigation data to perform navigation;

and if the position navigation data is lost, the host machine uses the inertial navigation data to navigate. According to the scheme, whether navigation data are lost or not is detected in the data transmission process; the navigation data comprises position navigation data and inertial navigation data; if the inertial navigation data are not lost, continuing to use the serial port-USB device to transmit the inertial navigation data at a high speed; and if the inertial navigation data are lost, transmitting the inertial navigation data by using a first USB interface of the integrated navigation equipment. If the position navigation data is not lost, the host machine uses the position navigation data to perform navigation; and if the position navigation data is lost, the host machine uses the inertial navigation data to navigate. In this way, the stability of data transmission can be ensured, and the correct positioning of the autonomous vehicle can be ensured.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a controller, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.